CN111619558A - Method for preventing collision of motor vehicle with vehicle running by mistake and detection device - Google Patents
Method for preventing collision of motor vehicle with vehicle running by mistake and detection device Download PDFInfo
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- CN111619558A CN111619558A CN202010516659.8A CN202010516659A CN111619558A CN 111619558 A CN111619558 A CN 111619558A CN 202010516659 A CN202010516659 A CN 202010516659A CN 111619558 A CN111619558 A CN 111619558A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 230000009471 action Effects 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims description 4
- 238000012502 risk assessment Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 description 4
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B60W2420/408—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
Abstract
The invention relates to a detection device for avoiding collision between a motor vehicle and a vehicle running wrongly, which comprises a sensing part, a calculating unit and a control part, wherein the sensing part senses an obstacle in front of a lane and inputs collision sensing information to the calculating unit; a collision avoidance responder configured to perform control of a plurality of radar sensors with low power consumption and travel control for avoiding a collision of a vehicle; a calculation unit adapted to calculate ranges of the plurality of sections and obtain a speed of the vehicle; a safety unit adapted to take action to avoid a collision between the vehicle and the object in dependence on the segment determined by the collision avoidance responder and the speed of the vehicle. The invention also relates to a method for avoiding a collision of a motor vehicle with a vehicle travelling by mistake. The whole process is quick in response, coordinated in action and finally capable of obtaining the desired deceleration at the beginning of control when executing the command.
Description
Technical Field
The present invention relates to a collision avoidance control method for a vehicle, and more particularly to a method and a detection device for avoiding a collision of a motor vehicle with a vehicle that is traveling by mistake.
Background
Generally, steering and braking of a vehicle are utilized to avoid and prevent collisions with obstacles, and the avoidance system includes a camera, radar, or a combination sensor system of both. A wrong-way driving is understood to mean a driving on a directional carriageway in a direction opposite to the predefined driving direction, which can lead to serious death, injury and considerable property damage.
In such a collision avoidance control device for a vehicle, when a brake request is input by the operation of a brake pedal by a driver in a state where deceleration of the vehicle is generated by collision avoidance control, the brake request of the driver is prioritized and the operation of the collision avoidance control is stopped. In such a case, if the stopped collision avoidance control is restarted, the deceleration desired at the initial stage of the control cannot be obtained.
However, the conventional collision avoidance system automatically performs braking and steering control and follows the avoidance trajectory, resulting in the realization of braking and steering control regardless of the intention of the driver, which may have a serious sense of incongruity in an emergency.
Therefore, a response delay to a brake operation or the like is large, and the vehicle body deceleration fluctuates. This is because, although the driver further performs the braking operation during the execution of the collision avoidance control, the required braking cannot be achieved.
Disclosure of Invention
In order to solve the problems of large response delay and incongruity, the invention provides a method and a detection device for avoiding collision between a motor vehicle and a vehicle which is driven by mistake.
The invention provides the following technical scheme:
a detection device for avoiding a collision of a motor vehicle with a wrongly driven vehicle, comprising
A sensing part for sensing the obstacle in front of the vehicle road and inputting collision sensing information to the computing unit;
a collision avoidance responder configured to perform control of a plurality of radar sensors with low power consumption and travel control for avoiding a collision of a vehicle;
a calculation unit adapted to calculate ranges of the plurality of sections and obtain a speed of the vehicle;
a safety unit adapted to take action to avoid a collision between the vehicle and the object in dependence on the segment determined by the collision avoidance responder and the speed of the vehicle.
In the above technical solution, the sensing unit further includes a photographing unit for photographing an obstacle in front of the vehicle and inputting a height and a width of the obstacle; a plurality of radar sensors that input relative distance and relative speed.
In the above technical solution, the plurality of radar sensors are adapted to detect the relative position of the object and the vehicle.
In the above technical solution, the radar sensors are two sensors located in front of the vehicle and two sensors located on the front side of the vehicle.
In the above technical solution, further, the safety unit includes a braking portion and a steering portion,
a braking unit that decelerates or stops a traveling vehicle or maintains a stopped state of the vehicle;
the steering unit changes the traveling direction of the running automobile as the alignment state of the front wheels of the steerable wheels, and adjusts the traveling direction of the automobile by adjusting the front wheels or the four wheels of the automobile to an appropriate angle.
In the above technical solution, furthermore, the
And a calculating unit for judging whether collision with the obstacle is possible or not in the collision danger with the obstacle, wherein the calculating unit identifies the obstacle according to various information input from the sensing part, judges whether collision danger with the obstacle exists or not, and judges whether collision avoidance is possible or not if the collision danger exists.
Further, the collision avoidance responder supports a change in driving conditions, including a change in speed or lane of its vehicle, by determining whether there is a risk of collision with a surrounding vehicle or a surrounding object.
Further, the computing unit communicates with an external device, which is a central server or a transmitter for false driver warnings, via a communication interface.
Method for avoiding a collision of a motor vehicle with a wrongly driven vehicle, the method comprising:
s1, detecting the relative position of the obstacle and the vehicle;
s2, determining the section where the obstacle is located according to the relative position of the obstacle and the vehicle, and judging whether to execute collision avoidance control with the obstacle in front by the computer based on the data acquired in the running process;
s3, executing automatic braking of the vehicle according to the evaluation on the collision risk;
s4, according to the collision risk assessment result, allowing the driver to perform steering intervention aiming at executing avoidance steering operation;
s5, if it is determined that the collision avoidance control is to be executed, the vehicle performs an action to avoid a collision between the vehicle and the obstacle in accordance with the section in which the obstacle is located, and executes a deceleration command.
In the case of a steering intervention by the driver, the automatic braking is stopped.
Compared with the prior art, the invention has the beneficial effects that: the system comprises a shooting part at the front part of the motor vehicle, a radar sensor, a computer and a control module, wherein the shooting part shoots a front obstacle, senses the height and the width of the obstacle, obtains the relative distance and the relative speed between the radar sensor and the obstacle, determines the relative position between the obstacle and the vehicle after the computer acquires the data to determine the section where the obstacle is located, judges whether to execute collision avoidance control on the front obstacle or not, evaluates collision risks of the front obstacle by the computer, and allows a driver to perform steering intervention aiming at avoiding steering operation and execute a deceleration instruction if the collision avoidance risk is greater than a safety threshold value prestored by the computer. The whole process is quick in response, coordinated in action and finally capable of obtaining the desired deceleration at the beginning of control when executing the command.
Drawings
Fig. 1 is a schematic block diagram of a vehicle collision avoidance detecting apparatus of the present invention.
Fig. 2 is a schematic view of a motor vehicle and a wrong-way vehicle according to the present invention.
Fig. 3 is a schematic block diagram of the brake of the present invention.
FIG. 4 is a flow chart of a method for avoiding a collision for a vehicle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in FIG. 1, a detecting device for preventing a collision of a motor vehicle with a vehicle traveling by mistake includes
A sensing part for sensing the obstacle in front of the vehicle road and inputting collision sensing information to the computing unit;
a collision avoidance responder configured to perform control of a plurality of radar sensors with low power consumption and travel control for avoiding a collision of a vehicle;
a calculation unit adapted to calculate ranges of the plurality of sections and obtain a speed of the vehicle;
a safety unit adapted to take action to avoid a collision between the vehicle and the object in dependence on the segment determined by the collision avoidance responder and the speed of the vehicle.
The sensing part comprises a shooting part for shooting the front obstacle and inputting the height, width and the like of the obstacle; a plurality of radar sensors for inputting relative distance, relative speed, and the like by using whether or not an obstacle exists, a distance to the obstacle, and the like;
a plurality of radar sensors adapted to detect a relative position of an object and the vehicle.
The radar sensors (a, b, c, d) are two sensors (a, b) located in front of the vehicle and two sensors (c, d) located on the front side of the vehicle,
and the safety unit comprises a braking part and a steering part.
The braking unit decelerates or stops the traveling vehicle, or maintains the stopped state of the vehicle. The hydraulic pressure controls the braking force of each wheel, and the electric motor controls the motor to generate the braking force.
The steering unit changes the traveling direction of the running automobile as the alignment state of the front wheels of the steerable wheels, and adjusts the traveling direction of the automobile by adjusting the front wheels or the four wheels of the automobile to an appropriate angle.
As shown in fig. 3, the brake unit includes a brake ECU40 that can function as a data acquisition unit, a deceleration acquisition unit, an addition unit, and the like.
The data acquisition unit acquires information from the sensing unit.
The deceleration acquisition unit acquires a deceleration corresponding to an operation amount from a brake pedal, that is, acquires a deceleration corresponding to a braking request from a driver.
The addition section adds the deceleration corresponding to the driver's braking request acquired by the deceleration acquisition section based on the estimated deceleration.
The steering unit executes the command result of the braking unit.
And a calculating unit for judging whether collision with the obstacle is possible or not in the collision danger with the obstacle, wherein the calculating unit identifies the obstacle according to various information input from the sensing part, judges whether collision danger with the obstacle exists or not, and judges whether collision avoidance is possible or not if the collision danger exists.
A calculation unit connected to the positioning system to receive the position, the speed and the acceleration of the tram.
The calculation unit can be adapted to calculate the range of the segment from the relative speed of the vehicle and the object. In this case, a calculation unit is connected to the radar sensor, which can dynamically calculate the zone distance, not only from the speed of the vehicle, but also from the acceleration of the vehicle, the characteristics of the rail vehicle and environmental conditions, such as wet and dry rails.
The collision avoidance responder supports a change in driving conditions, including a change in speed or lane of its vehicle, by determining whether there is a risk of collision with a surrounding vehicle or the surrounding object.
The collision avoidance responder may support control of acceleration or deceleration of the vehicle by comparing a distance to a preceding vehicle measured using operation of a front long range radar sensor of the plurality of radar sensors with a predetermined distance, and support acceleration of the vehicle even if it is determined that there is no vehicle ahead.
The computing unit communicates via a communication interface with an external device, which is a central server or a transmitter for warning of a wrong driver. The vehicle can be provided with information (for example map data) by means of the communication interface.
As shown in fig. 2, the motor vehicle a receives a wrong driver warning, which indicates that the wrong-way vehicle B is located on the same lane of the road and relatively travels, from the external device, which can calculate the distance between the wrong-way vehicle B and the motor vehicle a from the position report of the motor vehicle a and notify the motor vehicle a of the distance.
By means of the invention, the system allows automatic searching, thereby avoiding collisions of vehicles, such as vehicles. The system is capable of performing actions according to the relative position of an obstacle and a vehicle without obstructing the driver of the vehicle to avoid a collision.
Fig. 4 shows a method for avoiding a collision of a motor vehicle with a wrongly driven vehicle, the method comprising:
s1, detecting the relative position of the obstacle and the vehicle;
s2, determining the section where the obstacle is located according to the relative position of the obstacle and the vehicle, and judging whether to execute collision avoidance control with the obstacle in front by the computer based on the data acquired in the running process;
s3, executing automatic braking of the vehicle according to the evaluation on the collision risk;
s4, according to the collision risk assessment result, allowing the driver to perform steering intervention aiming at executing avoidance steering operation;
s5, if it is determined that the collision avoidance control is to be executed, the vehicle performs an action to avoid a collision between the vehicle and the obstacle in accordance with the section in which the obstacle is located, and executes a deceleration command.
Assuming that the vehicle a normally runs on a road, the vehicle B is located in the same lane on the road, and runs in the opposite direction, the vehicle B runs forward all the time, and is likely to collide with the opposite normally running vehicle a.
At the moment, a shooting part positioned at the front part of the motor vehicle A shoots a front obstacle, senses the height and the width of the obstacle, meanwhile, a radar sensor obtains the relative distance and the relative speed between the radar sensor and the obstacle, after the computer obtains the data, the computer determines the relative position between the obstacle and the vehicle to determine the section where the obstacle is positioned, judges whether to execute collision avoidance control on the front obstacle or not, evaluates the collision risk of the front obstacle, and if the collision avoidance control is larger than a safety threshold value prestored by the computer, allows a driver to perform steering intervention aiming at executing avoidance steering operation and executes a deceleration instruction.
The detection device mainly comprises a sensing part, an anti-collision responder, a calculation unit and a safety unit, all parts run coordinately, and the actions are smooth correspondingly.
In order to avoid a collision of the vehicle with an opposing obstacle, at least one object in the vehicle environment can be detected in a sensor-supported manner and can be evaluated in terms of the risk of collision, the computer determines the relative position of the obstacle with respect to the vehicle after having acquired these data in order to determine the section in which the obstacle is located, and on the basis of this evaluation performs an automatic intervention in the movement of the vehicle, if this is greater than a safety threshold value prestored in the computer, and executes a deceleration command.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Detection device for avoiding a collision of a motor vehicle with a wrongly travelling vehicle, characterized in that: comprises that
A sensing part for sensing the obstacle in front of the vehicle road and inputting collision sensing information to the computing unit;
a collision avoidance responder configured to perform control of a plurality of radar sensors with low power consumption and travel control for avoiding a collision of a vehicle;
a calculation unit adapted to calculate ranges of the plurality of sections and obtain a speed of the vehicle;
a safety unit adapted to take action to avoid a collision between the vehicle and the object in dependence on the segment determined by the collision avoidance responder and the speed of the vehicle.
2. The detection apparatus for avoiding collision of a motor vehicle with a erroneously traveling vehicle according to claim 1, characterized in that: the sensing part comprises a shooting part for shooting a front obstacle and inputting the height and the width of the obstacle; a plurality of radar sensors that input relative distance and relative speed.
3. The detection apparatus for avoiding collision of a motor vehicle with a erroneously traveling vehicle according to claim 2, characterized in that: the plurality of radar sensors are adapted to detect a relative position of the object and the vehicle.
4. The detection apparatus for avoiding collision of a motor vehicle with a erroneously traveling vehicle according to claim 1, characterized in that: the radar sensors are two sensors located in front of the vehicle and two sensors located on the front side of the vehicle.
5. The detection apparatus for avoiding collision of a motor vehicle with a erroneously traveling vehicle according to claim 1, characterized in that: the safety unit includes a braking portion and a steering portion,
a braking unit that decelerates or stops a traveling vehicle or maintains a stopped state of the vehicle;
the steering unit changes the traveling direction of the running automobile as the alignment state of the front wheels of the steerable wheels, and adjusts the traveling direction of the automobile by adjusting the front wheels or the four wheels of the automobile to an appropriate angle.
6. The detection apparatus for avoiding collision of a motor vehicle with a erroneously traveling vehicle according to claim 1, characterized in that: the above-mentioned
And a calculating unit for judging whether collision with the obstacle is possible or not in the collision danger with the obstacle, wherein the calculating unit identifies the obstacle according to various information input from the sensing part, judges whether collision danger with the obstacle exists or not, and judges whether collision avoidance is possible or not if the collision danger exists.
7. The detection apparatus for avoiding collision of a motor vehicle with a erroneously traveling vehicle according to claim 1, characterized in that: the above-mentioned
The collision avoidance responder supports a change in driving conditions, including a change in speed or lane of its vehicle, by determining whether there is a risk of collision with a surrounding vehicle or a surrounding object.
8. The detection apparatus for avoiding collision of a motor vehicle with a erroneously traveling vehicle according to claim 1, characterized in that: the computing unit communicates via a communication interface with an external device, which is a central server or a transmitter for warning of a wrong driver.
9. Method for avoiding a collision of a motor vehicle with a wrongly driven vehicle, characterized in that: the method comprises the following steps:
s1, detecting the relative position of the obstacle and the vehicle;
s2, determining the section where the obstacle is located according to the relative position of the obstacle and the vehicle, and judging whether to execute collision avoidance control with the obstacle in front by the computer based on the data acquired in the running process;
s3, executing automatic braking of the vehicle according to the evaluation on the collision risk;
s4, according to the collision risk assessment result, allowing the driver to perform steering intervention aiming at executing avoidance steering operation;
s5, if it is determined that the collision avoidance control is to be executed, the vehicle performs an action to avoid a collision between the vehicle and the obstacle in accordance with the section in which the obstacle is located, and executes a deceleration command.
10. Method for avoiding a collision of a motor vehicle with a wrongly travelling vehicle according to claim 9, characterized in that: in the case of a steering intervention by the driver, the automatic braking is stopped.
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| CN202010516659.8A CN111619558A (en) | 2020-06-09 | 2020-06-09 | Method for preventing collision of motor vehicle with vehicle running by mistake and detection device |
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| CN202010516659.8A CN111619558A (en) | 2020-06-09 | 2020-06-09 | Method for preventing collision of motor vehicle with vehicle running by mistake and detection device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112298132A (en) * | 2020-10-12 | 2021-02-02 | 清华大学苏州汽车研究院（相城） | Vehicle autonomous emergency braking control system and control method |
| CN112590812A (en) * | 2020-11-30 | 2021-04-02 | 中汽数据(天津)有限公司 | Local path planning state switching method based on automatic driving |
| CN112896157A (en) * | 2021-02-08 | 2021-06-04 | 福瑞泰克智能系统有限公司 | Defensive driving control method, device and system, vehicle-mounted terminal and storage medium |
| CN113844441A (en) * | 2021-10-14 | 2021-12-28 | 安徽江淮汽车集团股份有限公司 | Machine learning method of front collision early warning braking system |
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Application publication date: 20200904 |